/*
 * processCloud.h
 *
 *  Created on: 20 mai 2012
 *      Author: flolom
 */

#ifndef PROCESSCLOUD_H_
#define PROCESSCLOUD_H_

#include <MapGrid.h>
#include <list>
#include <map>
#include <Robot.h>
#include <set>

typedef std::map<int, livia::GridElem*> AxeXGridElem;

typedef struct
{
	std::list<livia::GridView> modifsView;
	std::list<livia::GridCrossable> modifsCross;
}GridModifs;

void acquerirNuagePt(livia::MapGrid* grid, livia::Robot* rob);

GridModifs algoTropGG(std::set<livgeo::Point2D, livgeo::point2Dcomp>& obstacles,
		livia::MapGrid& grid, livia::Robot& robot);


#endif /* PROCESSCLOUD_H_ */
